Merge pull request lagadic#1292 from fspindle/feat_with_3rdparties

Feat with 3rdparties
fspindle · Dec 19, 2023 · 8ef760d · 8ef760d
2 parents b68f53a + 9e63de2
commit 8ef760d
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Showing 125 changed files with 5,438 additions and 3,677 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -675,6 +675,10 @@ VP_OPTION(WITH_QBDEVICE   ""           ""    "Build qbdevice-api as built-in lib
 VP_OPTION(WITH_TAKKTILE2  ""           ""    "Build Right Hand takktile2 driver as built-in library"   "" ON IF (VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98) AND (NOT WIN32) AND (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
 VP_OPTION(WITH_CATCH2     ""           ""    "Use catch2" "" ON IF (VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98))
 VP_OPTION(WITH_POLOLU     ""           ""    "Build rapa pololu as built-in library" "" ON IF (NOT WINRT) AND (NOT IOS) AND (NOT ANDROID))
+VP_OPTION(WITH_PUGIXML    ""           ""    "Use pugixml built-in third-party" "" ON)
+VP_OPTION(WITH_SIMDLIB    ""           ""    "Use simdlib built-in third-party" "" ON)
+VP_OPTION(WITH_STBIMAGE   ""           ""    "Use std_image built-in third-party" "" ON)
+VP_OPTION(WITH_TINYEXR    ""           ""    "Use tinyexr built-in third-party" "" ON)
 
 # ----------------------------------------------------------------------------
 # Check for specific functions. Should be after cxx standard detection in VISPDetectCXXStandard.cmake and potential modification depending on pcl, realsense2, libfranka
@@ -998,6 +1002,10 @@ VP_SET(VISP_HAVE_QBDEVICE    TRUE IF (BUILD_MODULE_visp_robot AND WITH_QBDEVICE)
 VP_SET(VISP_HAVE_TAKKTILE2   TRUE IF (BUILD_MODULE_visp_robot AND WITH_TAKKTILE2))
 VP_SET(VISP_HAVE_POLOLU      TRUE IF (BUILD_MODULE_visp_robot AND WITH_POLOLU))
 VP_SET(VISP_HAVE_CATCH2      TRUE IF (BUILD_MODULE_visp_core AND WITH_CATCH2))
+VP_SET(VISP_HAVE_SIMDLIB     TRUE IF (BUILD_MODULE_visp_core AND WITH_SIMDLIB))
+VP_SET(VISP_HAVE_STBIMAGE    TRUE IF (BUILD_MODULE_visp_core AND WITH_STBIMAGE))
+VP_SET(VISP_HAVE_TINYEXR     TRUE IF (BUILD_MODULE_visp_core AND WITH_TINYEXR))
+VP_SET(VISP_HAVE_PUGIXML     TRUE IF (BUILD_MODULE_visp_core AND WITH_PUGIXML))
 
 VP_SET(VISP_HAVE_QUALISYS    TRUE IF (BUILD_MODULE_visp_sensor AND USE_QUALISYS))
 VP_SET(VISP_HAVE_VICON       TRUE IF (BUILD_MODULE_visp_sensor AND USE_VICON))
@@ -1325,6 +1333,7 @@ if(VISP_VCSVERSION)
   status("  Version control:" ${VISP_VCSVERSION})
 endif()
 
+# ========================== contrib modules ==========================
 if(VISP_CONTRIB_MODULES_PATH)
   set(__dump_extra_header OFF)
   foreach(p ${VISP_CONTRIB_MODULES_PATH})
@@ -1579,8 +1588,9 @@ status("    Use JPEG:"               USE_JPEG         THEN "yes (ver ${JPEG_LIB_
 status("    Use PNG:"                USE_PNG          THEN "yes (ver ${PNG_VERSION_STRING})" ELSE "no")
 status("    \\- Use ZLIB:"           USE_ZLIB         THEN "yes (ver ${ZLIB_VERSION_STRING})" ELSE "no")
 status("    Use OpenCV:"             USE_OPENCV       THEN "yes (ver ${OpenCV_VERSION})" ELSE "no")
-status("    Use stb_image (built-in):"                     "yes (ver ${STBIMAGE_VERSION})")
-status("    Use TinyEXR (built-in):"                       "yes (ver ${TINYEXR_VERSION})")
+status("    Use stb_image (built-in):" WITH_STBIMAGE  THEN "yes (ver ${STBIMAGE_VERSION})" ELSE "no")
+status("    Use TinyEXR (built-in):" WITH_TINYEXR     THEN "yes (ver ${TINYEXR_VERSION})" ELSE "no")
+status("    Use simdlib (built-in):" WITH_SIMDLIB     THEN "yes" ELSE "no")
 status("")
 status("  Real robots: ")
 status("    Use Afma4:"              USE_AFMA4        THEN "yes" ELSE "no")
@@ -1647,15 +1657,15 @@ status("    \\- Use AprilTag big family:" WITH_APRILTAG_BIG_FAMILY  THEN "yes" E
 status("")
 status("  Misc: ")
 status("    Use Clipper (built-in):"  WITH_CLIPPER     THEN "yes (ver ${CLIPPER_VERSION})" ELSE "no")
-status("    Use pugixml (built-in):"                        "yes (ver ${PUGIXML_VERSION})")
+status("    Use pugixml (built-in):"  WITH_PUGIXML     THEN "yes (ver ${PUGIXML_VERSION})" ELSE "no")
 status("    Use libxml2:"             USE_XML2         THEN "yes (ver ${XML2_VERSION_STRING})" ELSE "no")
 status("    Use json (nlohmann):"     USE_NLOHMANN_JSON THEN "yes (ver ${nlohmann_json_VERSION})" ELSE "no")
 status("")
 status("  Optimization: ")
 status("    Use OpenMP:"             USE_OPENMP         THEN "yes" ELSE "no")
 status("    Use st::thread:"         USE_THREADS        THEN "yes" ELSE "no")
 status("    Use pthread (built-in):" WITH_PTHREAD       THEN "yes (ver ${PTHREADS_VERSION})" ELSE "no")
-status("    Use Simd (built-in):"                            "yes (ver ${SIMD_VERSION})")
+status("    Use simdlib (built-in):" WITH_SIMDLIB       THEN "yes" ELSE "no")
 status("")
 status("  DNN: ")
 status("    Use CUDA Toolkit:"       USE_TENSORRT AND CUDA_FOUND  THEN "yes (ver ${CUDA_VERSION})" ELSE "no")

diff --git a/apps/calibration/visp-acquire-franka-calib-data.cpp b/apps/calibration/visp-acquire-franka-calib-data.cpp
@@ -43,7 +43,7 @@
 #include <visp3/sensor/vpRealSense2.h>
 
 #if defined(VISP_HAVE_REALSENSE2) && \
-    (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_FRANKA) && \
+    (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_FRANKA) && defined(VISP_HAVE_PUGIXML) && \
     defined(VISP_HAVE_MODULE_GUI) && defined(VISP_HAVE_MODULE_ROBOT) && defined(VISP_HAVE_MODULE_SENSOR) // optional
 
 void usage(const char **argv, int error, const std::string &robot_ip)
@@ -103,8 +103,9 @@ int main(int argc, const char **argv)
     std::cout << "Image size: " << width << " x " << height << std::endl;
     // Save intrinsics
     vpCameraParameters cam;
-    vpXmlParserCamera xml_camera;
+
     cam = g.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithDistortion);
+    vpXmlParserCamera xml_camera;
     xml_camera.save(cam, "franka_camera.xml", "Camera", width, height);
 
 #if defined(VISP_HAVE_X11)
@@ -172,6 +173,9 @@ int main()
 #if !defined(VISP_HAVE_FRANKA)
   std::cout << "Install libfranka." << std::endl;
 #endif
+#if !defined(VISP_HAVE_PUGIXML)
+  std::cout << "Enable pugyxml built-in usage." << std::endl;
+#endif
 
   std::cout << "After installation of the missing 3rd parties, configure ViSP with cmake "
     << "and build ViSP again." << std::endl;

diff --git a/apps/calibration/visp-acquire-universal-robots-calib-data.cpp b/apps/calibration/visp-acquire-universal-robots-calib-data.cpp
@@ -43,7 +43,7 @@
 #include <visp3/sensor/vpRealSense2.h>
 
 #if defined(VISP_HAVE_REALSENSE2) && \
-    (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_UR_RTDE) && \
+    (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && defined(VISP_HAVE_UR_RTDE) && defined(VISP_HAVE_PUGIXML) && \
     defined(VISP_HAVE_MODULE_GUI) && defined(VISP_HAVE_MODULE_ROBOT) && defined(VISP_HAVE_MODULE_SENSOR) // optional
 
 void usage(const char **argv, int error, const std::string &robot_ip)
@@ -175,6 +175,9 @@ int main()
   std::cout << "ViSP is not build with libur_rtde 3rd party used to control a robot from Universal Robots..."
     << std::endl;
 #endif
+#if !defined(VISP_HAVE_PUGIXML)
+  std::cout << "Enable pugyxml built-in usage." << std::endl;
+#endif
 
   std::cout << "After installation of the missing 3rd parties, configure ViSP with cmake"
     << " and build ViSP again." << std::endl;

diff --git a/apps/calibration/visp-compute-chessboard-poses.cpp b/apps/calibration/visp-compute-chessboard-poses.cpp
@@ -36,7 +36,7 @@
 
 #include <visp3/core/vpConfig.h>
 
-#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D)
+#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D) && defined(VISP_HAVE_PUGIXML)
 
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/core/core.hpp>
@@ -345,7 +345,12 @@ int main(int argc, const char **argv)
 #else
 int main()
 {
-  std::cerr << "OpenCV 2.3.0 or higher is requested to run the calibration." << std::endl;
+#if !(defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_CALIB3D))
+  std::cerr << "OpenCV calib3d module is requested to run the calibration." << std::endl;
+#endif
+#if !defined(VISP_HAVE_PUGIXML)
+  std::cout << "pugixml built-in 3rdparty is requested to run the calibration." << std::endl;
+#endif
   return EXIT_SUCCESS;
 }
 #endif
diff --git a/cmake/VISP3rdParty.cmake b/cmake/VISP3rdParty.cmake
@@ -57,30 +57,34 @@ if(WITH_TAKKTILE2)
   set(TAKKTILE2_VERSION ${TAKKTILE2_MAJOR_VERSION}.${TAKKTILE2_MINOR_VERSION}.${TAKKTILE2_PATCH_VERSION})
 endif()
 
-# pugixml is always enabled to provide default XML I/O capabilities
-set(PUGIXML_LIBRARY visp_pugixml)
-add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/pugixml-1.9")
-set(PUGIXML_INCLUDE_DIRS "${${PUGIXML_LIBRARY}_SOURCE_DIR}" "${${PUGIXML_LIBRARY}_BINARY_DIR}")
-set(PUGIXML_LIBRARIES ${PUGIXML_LIBRARY})
-set(PUGIXML_VERSION ${PUGIXML_MAJOR_VERSION}.${PUGIXML_MINOR_VERSION}.${PUGIXML_PATCH_VERSION})
+if(WITH_PUGIXML)
+  set(PUGIXML_LIBRARY visp_pugixml)
+  add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/pugixml-1.9")
+  set(PUGIXML_INCLUDE_DIRS "${${PUGIXML_LIBRARY}_SOURCE_DIR}" "${${PUGIXML_LIBRARY}_BINARY_DIR}")
+  set(PUGIXML_LIBRARIES ${PUGIXML_LIBRARY})
+  set(PUGIXML_VERSION ${PUGIXML_MAJOR_VERSION}.${PUGIXML_MINOR_VERSION}.${PUGIXML_PATCH_VERSION})
+endif()
 
-# simdlib is always enabled since it contains fallback code to plain C++ code
-set(SIMD_LIBRARY visp_simdlib)
-add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/simdlib")
-set(SIMDLIB_INCLUDE_DIRS "${VISP_SOURCE_DIR}/3rdparty/simdlib")
-set(SIMDLIB_LIBRARIES ${SIMD_LIBRARY})
+if(WITH_SIMDLIB)
+  set(SIMD_LIBRARY visp_simdlib)
+  add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/simdlib")
+  set(SIMDLIB_INCLUDE_DIRS "${VISP_SOURCE_DIR}/3rdparty/simdlib")
+  set(SIMDLIB_LIBRARIES ${SIMD_LIBRARY})
+endif()
 
-# stb is always enabled
-set(STBIMAGE_LIBRARY visp_stbimage)
-add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/stb_image")
-set(STBIMAGE_INCLUDE_DIRS "${VISP_SOURCE_DIR}/3rdparty/stb_image")
-set(STBIMAGE_VERSION ${STBIMAGE_MAJOR_VERSION}.${STBIMAGE_MINOR_VERSION}.${STBIMAGE_PATCH_VERSION})
+if(WITH_STBIMAGE)
+  set(STBIMAGE_LIBRARY visp_stbimage)
+  add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/stb_image")
+  set(STBIMAGE_INCLUDE_DIRS "${VISP_SOURCE_DIR}/3rdparty/stb_image")
+  set(STBIMAGE_VERSION ${STBIMAGE_MAJOR_VERSION}.${STBIMAGE_MINOR_VERSION}.${STBIMAGE_PATCH_VERSION})
+endif()
 
-# tinyexr is always enabled
-set(TINYEXR_LIBRARY visp_tinyexr)
-add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/tinyexr")
-set(TINYEXR_INCLUDE_DIRS "${VISP_SOURCE_DIR}/3rdparty/tinyexr")
-set(TINYEXR_VERSION ${TINYEXR_MAJOR_VERSION}.${TINYEXR_MINOR_VERSION}.${TINYEXR_PATCH_VERSION})
+if(WITH_TINYEXR)
+  set(TINYEXR_LIBRARY visp_tinyexr)
+  add_subdirectory("${VISP_SOURCE_DIR}/3rdparty/tinyexr")
+  set(TINYEXR_INCLUDE_DIRS "${VISP_SOURCE_DIR}/3rdparty/tinyexr")
+  set(TINYEXR_VERSION ${TINYEXR_MAJOR_VERSION}.${TINYEXR_MINOR_VERSION}.${TINYEXR_PATCH_VERSION})
+endif()
 
 if(WITH_CATCH2)
   set(CATCH2_LIBRARY visp_catch2)

diff --git a/cmake/VISPGenerateConfigScript.cmake b/cmake/VISPGenerateConfigScript.cmake
@@ -181,6 +181,10 @@ if(NOT DEFINED CMAKE_HELPER_SCRIPT)
     VISP_HAVE_OPENMP
 
     WITH_CATCH2
+    WITH_PUGIXML
+    WITH_SIMDLIB
+    WITH_STBIMAGE
+    WITH_TINYEXR
 
     FILE_VISP_SCRIPT_CONFIG
     FILE_VISP_SCRIPT_CONFIG_INSTALL

diff --git a/cmake/templates/VISPConfig.cmake.in b/cmake/templates/VISPConfig.cmake.in
@@ -243,20 +243,25 @@ set(VISP_HAVE_PARPORT        "@VISP_HAVE_PARPORT@")
 set(VISP_HAVE_PCL            "@VISP_HAVE_PCL@")
 set(VISP_HAVE_PIONEER        "@VISP_HAVE_PIONEER@")
 set(VISP_HAVE_PNG            "@VISP_HAVE_PNG@")
+set(VISP_HAVE_POLOLU         "@VISP_HAVE_POLOLU@")
 set(VISP_HAVE_PTHREAD        "@VISP_HAVE_PTHREAD@")
 set(VISP_HAVE_PTU46          "@VISP_HAVE_PTU46@")
+set(VISP_HAVE_PUGIXML        "@VISP_HAVE_PUGIXML@")
 set(VISP_HAVE_PYLON          "@VISP_HAVE_PYLON@")
 set(VISP_HAVE_QBDEVICE       "@VISP_HAVE_QBDEVICE@")
 set(VISP_HAVE_QT             "@VISP_HAVE_QT@")
 set(VISP_HAVE_QUALISYS       "@VISP_HAVE_QUALISYS@")
 set(VISP_HAVE_REALSENSE      "@VISP_HAVE_REALSENSE@")
 set(VISP_HAVE_REALSENSE2     "@VISP_HAVE_REALSENSE2@")
+set(VISP_HAVE_SIMDLIB        "@VISP_HAVE_SIMDLIB@")
 set(VISP_HAVE_SOQT           "@VISP_HAVE_SOQT@")
 set(VISP_HAVE_SOWIN          "@VISP_HAVE_SOWIN@")
 set(VISP_HAVE_SOXT           "@VISP_HAVE_SOXT@")
+set(VISP_HAVE_STBIMAGE       "@VISP_HAVE_STBIMAGE@")
 set(VISP_HAVE_TAKKTILE2      "@VISP_HAVE_TAKKTILE2@")
 set(VISP_HAVE_TENSORRT       "@VISP_HAVE_TENSORRT@")
 set(VISP_HAVE_THREADS        "@VISP_HAVE_THREADS@")
+set(VISP_HAVE_TINYEXR        "@VISP_HAVE_TINYEXR@")
 set(VISP_HAVE_UEYE           "@VISP_HAVE_UEYE@")
 set(VISP_HAVE_UR_RTDE        "@VISP_HAVE_UR_RTDE@")
 set(VISP_HAVE_V4L2           "@VISP_HAVE_V4L2@")

diff --git a/cmake/templates/vpConfig.h.in b/cmake/templates/vpConfig.h.in
@@ -141,7 +141,7 @@
 #cmakedefine VISP_HAVE_X11
 
 // Always define pugixml for compatibility.
-#define VISP_HAVE_PUGIXML
+#cmakedefine VISP_HAVE_PUGIXML
 
 // Defined if XML2 library available.
 #cmakedefine VISP_HAVE_XML2
@@ -192,6 +192,15 @@
 // Defined if Catch2 library available
 #cmakedefine VISP_HAVE_CATCH2
 
+// Defined if simdlib library available
+#cmakedefine VISP_HAVE_SIMDLIB
+
+// Defined if stb_image library available
+#cmakedefine VISP_HAVE_STBIMAGE
+
+// Defined if tinyexr library available
+#cmakedefine VISP_HAVE_TINYEXR
+
 // Defined if Eigen3 library available
 #cmakedefine VISP_HAVE_EIGEN3
 

diff --git a/doc/config-doxygen.in b/doc/config-doxygen.in
@@ -2415,19 +2415,23 @@ PREDEFINED             = @DOXYGEN_SHOULD_SKIP_THIS@ \
                          VISP_HAVE_POLOLU \
                          VISP_HAVE_PTHREAD \
                          VISP_HAVE_PTU46 \
+                         VISP_HAVE_PUGIXML \
                          VISP_HAVE_PYLON \
                          VISP_HAVE_QBDEVICE \
                          VISP_HAVE_QT \
                          VISP_HAVE_QUALISYS \
                          VISP_HAVE_REALSENSE \
                          VISP_HAVE_REALSENSE_VERSION=0x020000 \
                          VISP_HAVE_REALSENSE2 \
+                         VISP_HAVE_SIMDLIB \
                          VISP_HAVE_SOWIN \
                          VISP_HAVE_SOQT \
                          VISP_HAVE_SOXT \
+                         VISP_HAVE_STBIMAGE \
                          VISP_HAVE_TAKKTILE2 \
                          VISP_HAVE_TENSORRT \
                          VISP_HAVE_THREADS \
+                         VISP_HAVE_TINYEXR \
                          VISP_HAVE_UEYE \
                          VISP_HAVE_UR_RTDE \
                          VISP_HAVE_V4L2 \